Open3D (C++ API)  0.18.0
FillInLinearSystem.h
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1 // ----------------------------------------------------------------------------
2 // - Open3D: www.open3d.org -
3 // ----------------------------------------------------------------------------
4 // Copyright (c) 2018-2023 www.open3d.org
5 // SPDX-License-Identifier: MIT
6 // ----------------------------------------------------------------------------
7 
8 #include "open3d/core/CUDAUtils.h"
9 #include "open3d/core/Tensor.h"
10 namespace open3d {
11 namespace t {
12 namespace pipelines {
13 namespace kernel {
14 
15 void FillInRigidAlignmentTerm(core::Tensor &AtA,
16  core::Tensor &Atb,
17  core::Tensor &residual,
18  const core::Tensor &Ti_qs,
19  const core::Tensor &Tj_qs,
20  const core::Tensor &Ri_normal_ps,
21  int i,
22  int j,
23  float threshold);
24 
25 void FillInSLACAlignmentTerm(core::Tensor &AtA,
26  core::Tensor &Atb,
27  core::Tensor &residual,
28  const core::Tensor &Ti_qs,
29  const core::Tensor &Tj_qs,
30  const core::Tensor &normal_ps,
31  const core::Tensor &Ri_normal_ps,
32  const core::Tensor &RjT_Ri_normal_ps,
33  const core::Tensor &cgrid_idx_ps,
34  const core::Tensor &cgrid_idx_qs,
35  const core::Tensor &cgrid_ratio_qs,
36  const core::Tensor &cgrid_ratio_ps,
37  int i,
38  int j,
39  int n,
40  float threshold);
41 
42 void FillInSLACRegularizerTerm(core::Tensor &AtA,
43  core::Tensor &Atb,
44  core::Tensor &residual,
45  const core::Tensor &grid_idx,
46  const core::Tensor &grid_nbs_idx,
47  const core::Tensor &grid_nbs_mask,
48  const core::Tensor &positions_init,
49  const core::Tensor &positions_curr,
50  float weight,
51  int n,
52  int anchor_idx);
53 
54 void FillInRigidAlignmentTermCPU(core::Tensor &AtA,
55  core::Tensor &Atb,
56  core::Tensor &residual,
57  const core::Tensor &Ti_qs,
58  const core::Tensor &Tj_qs,
59  const core::Tensor &Ri_normal_ps,
60  int i,
61  int j,
62  float threshold);
63 
64 void FillInSLACAlignmentTermCPU(core::Tensor &AtA,
65  core::Tensor &Atb,
66  core::Tensor &residual,
67  const core::Tensor &Ti_qs,
68  const core::Tensor &Tj_qs,
69  const core::Tensor &normal_ps,
70  const core::Tensor &Ri_normal_ps,
71  const core::Tensor &RjT_Ri_normal_ps,
72  const core::Tensor &cgrid_idx_ps,
73  const core::Tensor &cgrid_idx_qs,
74  const core::Tensor &cgrid_ratio_qs,
75  const core::Tensor &cgrid_ratio_ps,
76  int i,
77  int j,
78  int n,
79  float threshold);
80 
81 void FillInSLACRegularizerTermCPU(core::Tensor &AtA,
82  core::Tensor &Atb,
83  core::Tensor &residual,
84  const core::Tensor &grid_idx,
85  const core::Tensor &grid_nbs_idx,
86  const core::Tensor &grid_nbs_mask,
87  const core::Tensor &positions_init,
88  const core::Tensor &positions_curr,
89  float weight,
90  int n,
91  int anchor_idx);
92 
93 #ifdef BUILD_CUDA_MODULE
94 void FillInRigidAlignmentTermCUDA(core::Tensor &AtA,
95  core::Tensor &Atb,
96  core::Tensor &residual,
97  const core::Tensor &Ti_qs,
98  const core::Tensor &Tj_qs,
99  const core::Tensor &Ri_normal_ps,
100  int i,
101  int j,
102  float threshold);
103 
104 void FillInSLACAlignmentTermCUDA(core::Tensor &AtA,
105  core::Tensor &Atb,
106  core::Tensor &residual,
107  const core::Tensor &Ti_qs,
108  const core::Tensor &Tj_qs,
109  const core::Tensor &normal_ps,
110  const core::Tensor &Ri_normal_ps,
111  const core::Tensor &RjT_Ri_normal_ps,
112  const core::Tensor &cgrid_idx_ps,
113  const core::Tensor &cgrid_idx_qs,
114  const core::Tensor &cgrid_ratio_qs,
115  const core::Tensor &cgrid_ratio_ps,
116  int i,
117  int j,
118  int n,
119  float threshold);
120 
121 void FillInSLACRegularizerTermCUDA(core::Tensor &AtA,
122  core::Tensor &Atb,
123  core::Tensor &residual,
124  const core::Tensor &grid_idx,
125  const core::Tensor &grid_nbs_idx,
126  const core::Tensor &grid_nbs_mask,
127  const core::Tensor &positions_init,
128  const core::Tensor &positions_curr,
129  float weight,
130  int n,
131  int anchor_idx);
132 
133 #endif
134 
135 } // namespace kernel
136 } // namespace pipelines
137 } // namespace t
138 } // namespace open3d
CUDAUtils.h
Common CUDA utilities.
open3d::t::pipelines::kernel::FillInSLACAlignmentTermCPU
void FillInSLACAlignmentTermCPU(core::Tensor &AtA, core::Tensor &Atb, core::Tensor &residual, const core::Tensor &Ti_qs, const core::Tensor &Tj_qs, const core::Tensor &normal_ps, const core::Tensor &Ri_normal_ps, const core::Tensor &RjT_Ri_normal_ps, const core::Tensor &cgrid_idx_ps, const core::Tensor &cgrid_idx_qs, const core::Tensor &cgrid_ratio_qs, const core::Tensor &cgrid_ratio_ps, int i, int j, int n, float threshold)
Definition: FillInLinearSystemImpl.h:135
open3d::t::pipelines::kernel::FillInSLACRegularizerTerm
void FillInSLACRegularizerTerm(core::Tensor &AtA, core::Tensor &Atb, core::Tensor &residual, const core::Tensor &grid_idx, const core::Tensor &grid_nbs_idx, const core::Tensor &grid_nbs_mask, const core::Tensor &positions_init, const core::Tensor &positions_curr, float weight, int n, int anchor_idx)
Definition: FillInLinearSystem.cpp:133
open3d::t::pipelines::kernel::FillInRigidAlignmentTermCPU
void FillInRigidAlignmentTermCPU(core::Tensor &AtA, core::Tensor &Atb, core::Tensor &residual, const core::Tensor &Ti_qs, const core::Tensor &Tj_qs, const core::Tensor &Ri_normal_ps, int i, int j, float threshold)
Definition: FillInLinearSystemImpl.h:21
open3d::t::pipelines::kernel::FillInSLACAlignmentTerm
void FillInSLACAlignmentTerm(core::Tensor &AtA, core::Tensor &Atb, core::Tensor &residual, const core::Tensor &Ti_ps, const core::Tensor &Tj_qs, const core::Tensor &normal_ps, const core::Tensor &Ri_normal_ps, const core::Tensor &RjT_Ri_normal_ps, const core::Tensor &cgrid_idx_ps, const core::Tensor &cgrid_idx_qs, const core::Tensor &cgrid_ratio_qs, const core::Tensor &cgrid_ratio_ps, int i, int j, int n, float threshold)
Definition: FillInLinearSystem.cpp:69
open3d::t::pipelines::kernel::FillInRigidAlignmentTerm
void FillInRigidAlignmentTerm(core::Tensor &AtA, core::Tensor &Atb, core::Tensor &residual, const core::Tensor &Ti_ps, const core::Tensor &Tj_qs, const core::Tensor &Ri_normal_ps, int i, int j, float threshold)
Definition: FillInLinearSystem.cpp:18
open3d::t::pipelines::kernel::FillInSLACRegularizerTermCPU
void FillInSLACRegularizerTermCPU(core::Tensor &AtA, core::Tensor &Atb, core::Tensor &residual, const core::Tensor &grid_idx, const core::Tensor &grid_nbs_idx, const core::Tensor &grid_nbs_mask, const core::Tensor &positions_init, const core::Tensor &positions_curr, float weight, int n, int anchor_idx)
Definition: FillInLinearSystemImpl.h:282
open3d
Definition: PinholeCameraIntrinsic.cpp:16
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